Multi-foot robot pressure-spring limitation type elastic driving joint module
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A multi-legged robot, elastic drive technology, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems that the appearance is too large, can not be widely used in bionic multi-legged robots, etc., to achieve energy efficiency, compact structure, reliable self-locking Effect
Inactive Publication Date: 2009-03-11
HARBIN ENG UNIV
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This structure also has the disadvantages of only producing linear motion and being too large, so it cannot be widely used in miniaturized bionic multi-legged robots.
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[0022] The present invention is described in more detail below in conjunction with accompanying drawing example:
[0023] to combine Figure 1 to Figure 5 , each modular transmission structure is driven by a servo motor through a reducer. The transmission mechanism adopts a worm gear mechanism, which makes the input and output axes orthogonal, and has self-locking and adjustable characteristics. The worm gear output block passes the movement of the worm gear through Four compression springs are transferred to the joint output. The module mainly includes: fixing screw 1, motor rear end cover 2, connecting flange 3, four fixing screws 4, four connecting copper pillars 5, servo motor 6, thrust bearing 7, motor and box fixing screw 8, Fixed pin 9, potentiometer 10, pin 11, worm gear output block 12, potentiometer support frame 13, fixing screw 14, transmission joint block 15, adjustable fastening screw 16, worm screw 17, worm gear 18, fixing screw 19, support bearing I20, steel ...
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Abstract
The present invention provides a multi-leg robot pressure spring position limited elastic driving joint module which consists of a retaining screw (1), a motor back end cover (2), a joint flange (3), four retaining screws (4), four connection copper columns (5), a servo motor (6), a thrust block (7), a motor-box retaining screw (8), a fixed pin (9), a potentiometer (10), a pin (11), a worm wheel output block (12), a potentiometer support frame (13), a retaining screw (14), a transfer joint block (15), an adjustable fastening screw (16), a worm (17), a worm wheel (18), a retaining screw (19), a steady bearing I (20), a steel ball (21), an adjustable end cover (22), a fixed reinforcing plate (23), a retaining screw (24), a square box body (25), a worm wheel steady bearing (26), a clamp spring (27), a retaining screw (28), a pressure cover (29), a retaining screw (30), a fixed plate (31), a steady bearing (32), a coder fixing bracket (33), a motor coder (34), a pressure spring (35), a pressure spring guide rod (36) and a copper bush (37). The multi-leg robot pressure spring position limited elastic driving joint module has compact structure, large transmission ratio, stable transmission and reliable self locking performance.
Description
(1) Technical field [0001] The invention relates to a robot driving joint module, in particular to a multi-legged robot elastic driving joint module designed with a modular structure. (2) Background technology [0002] Bionics is a comprehensive science that emerged in the 1960s. It is formed by the interpenetration and combination of life science and engineering technology. It learns, imitates, replicates and recreates the structure, function and work of biological systems Principles and control mechanisms to improve existing or inventive machinery, instruments, buildings and processes. Because the dexterous movements of bionic robots are of great help to human production and scientific research activities, bionic robots have become an important direction in the field of robotics research today. [0003] The parameters of the gait and posture of the bionic multi-legged walking robot are all obtained directly from the research on the walking posture of people or animals. T...
Claims
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Application Information
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